Yamaha RCX141, User Manual

Page: 212 / 402

4-
154
Operation
4
12. “SYSTEM” mode
6. Out position [pulse] /OUTPOS
During PTP movement in a program, the next command can be executed when the
robot enters the range specified by the Out position for the target position. This
parameter sets the Out position range. When initialized, this is set to a value unique to
each axis.
When the robot enters the Out position range, the controller determines that the pro-
gram line has been executed. (However, the robot continues moving to the target posi-
tion.) When consecutive PTP movement commands are in a program, the larger the
value that is set, the more the time required to shift to the next command line can be
shortened.
The robot is verified to have entered the tolerance range before executing the move-
ment command so the previous positioning operation will end, even when executing
consecutive PTP operations.
The value set for the selected axis is displayed in converted units on the 3rd line of the
MPB screen.
Fig. 4-12-17
Current position
Out position
range
Target position
Tolerance range
[Procedure]
1) Select “6. Out position [pulse]” in “SYSTEM>PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with cursor (
↑
/
↓
) keys.
Fig. 4-12-18 Setting the “Out position [pulse]”
SYSTEM >PARAM>AXIS V8.30
6.Out position[pulse] ( 0. 56mm)
M1= 2000 M2= 2000 M3= 2000
m4= 2000
[1-6144000] Enter >_ 2000
4) Enter the value with the
0
to
9
, and
.
keys and then press the
key. If the value you input was a real number (number containing a decimal point),
then it is converted into pulse units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press the
ESC
key to quit the edit mode.
c
CAUTION
When the tolerance range is larger
than the Out position range, the PTP
operation is performed until the robot
is within the Out position range.